On global output feedback regulation of Euler-Lagrange systems with bounded inputs

Lorı́a, Antonio; Kelly, Rafael; Santibáñez, Víctor

doi:10.1109/9.618243

Cited by 128 publications

(74 citation statements)

References 14 publications

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“…Concerning item 2, we have that (1) the use of free dynamics is an important control design approach in e.g. electric and mechanical systems (see Reference [12]), and (2) cancellation of nonlinearities may lead to extra control effort producing unnecessary degradation of performance (see Reference [13]). Therefore, the suboptimal continuous feedback controls u e ðxÞ allow us to address the robustness problem for systems with bounded disturbances and the disturbance attenuation problem in the presence of control constraints, avoiding unnecessary extra control efforts.…”

Section: Introductionmentioning

confidence: 99%

Global robust stabilization of nonlinear systems subject to input constraints

Suárez

Solís‐Daun

Alvarez-Ramı́rez

2002

Intl J Robust & Nonlinear

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SUMMARYOur main purpose in this paper is to further address the global stabilization problem for affine systems by means of bounded feedback control functions, taking into account a large class of control value sets: p; rweighted balls B m r ðpÞ; with 15p41; defined via p; r-weighted gauge functions. Observe that p ¼ 1 is allowed, so that m-dimensional r-hyperboxes B m r ð1Þ :¼ ½ÀrWorking along the line of Artstein-Sontag's approach, we construct an explicit formula for a one-parameterized family of continuous feedback controls taking values in B m r ðpÞ that globally asymptotically stabilize an affine system, provided an appropriate control Lyapunov function is known. The designed family of controls is suboptimal with respect to the robust stability margin for uncertain systems. The problem of achieving disturbance attenuation for persistent disturbances is also considered.

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Section: Introductionmentioning

confidence: 99%

Global robust stabilization of nonlinear systems subject to input constraints

Suárez

Solís‐Daun

Alvarez-Ramı́rez

2002

Intl J Robust & Nonlinear

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“…Also, it is known that real-life actuators are unable to supply unlimited torque, and their output is bounded. This implies physical constraints which, if they are not taken into account in the design of the controller, can affect the stability and performance of the closed-loop system [9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

“…Several approaches have been proposed in the literature in order to face up the regulation problem of robot manipulators with bounded inputs; different analytical frameworks and control objectives are considered [9][10][11][12][13][14]. Solutions without considering velocity mesurements with gravity compensation are treated in [12].…”

Section: Introductionmentioning

confidence: 99%

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A practical PID regulator with bounded torques for robot manipulators

Santibáñez

Camarillo

Moreno–Valenzuela³

et al. 2010

Int. J. Control Autom. Syst.

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This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of the closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.

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“…The dynamic model-based observer approach has been widely applied in control problems for mechanical systems; particularly to tracking control for general mechanical systems (Loría et al, 1997;Lefeber, 2000), mobile robots (Salichs et al, 1991), marine systems (Pettersen and Nijmeijer, 1998;Encarnacao andPascoal, 2001), flightcontrol (Al-Hiddabi andMcClamroch, 2002), and many others. These output tracking control approaches assume that state information of the reference trajectory is available, but Rodriguez-Angeles and Nijmeijer (2001) presented an output coordination control approach for two robot manipulators based on only position measurements of the leader.…”

Section: Introductionmentioning

confidence: 99%

Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications

Kyrkjebø¹

2015

MIC

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This paper compares a dynamic and a kinematic observer approach for output coordination control of mechanical systems formulated in the Euler-Lagrange framework. The observers are designed to estimate missing velocity and acceleration information based on position/attitude measurements to provide a full state vector to the coordination control algorithm. The kinematic observer approach utilizes a virtual system designed to mimic the kinematic behaviour of the leader in order to estimate unknown states of the state vector with a minimum of information available. The dynamic observer approach is based on utilizing the full dynamic model of the follower system when estimating the missing states. The two observers are compared in terms of estimation principles and practical performance, and applied to two practical examples; leader-follower robot manipulator synchronization control, and underway replenishment operations for surface ships.

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On global output feedback regulation of Euler-Lagrange systems with bounded inputs

Cited by 128 publications

References 14 publications

Global robust stabilization of nonlinear systems subject to input constraints

Global robust stabilization of nonlinear systems subject to input constraints

A practical PID regulator with bounded torques for robot manipulators

Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications

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